Detective Chief Inspector Will Young said: "This is an ongoing investigation involving a number of lines of inquiry and we are actively following all leads in an effort to identify the suspect concerned.

"A man has already been arrested in connection with this incident and is currently on police bail.

"The occupants were unharmed during the incident but understandably are shaken by what happened and are keen to recover all of the items that were stolen which are of sentimental value."

Anyone who knows the man in the footage or has information about the incident should call Kensington and Chelsea CID on 020 8246 0137, or Crimestoppers anonymously on 0800 555111.